CN114008477A

CN114008477A - Techniques for supporting coexistence of multiple independent LIDAR sensors

Info

Publication number: CN114008477A
Application number: CN201980042854.7A
Authority: CN
Inventors: A·M·梅瑞特; D·I·冈萨雷斯阿圭里; K·西华尼山; I·阿尔瓦雷斯; S·沙尔马
Original assignee: Intel Corp
Current assignee: Intel Corp
Priority date: 2018-12-26
Filing date: 2019-11-26
Publication date: 2022-02-01
Also published as: WO2020139501A1; US20190129014A1; US11486978B2; EP3942327A1; EP3942327A4

Abstract

Systems, devices, and methods may provide techniques to initiate one or more light pulses according to a first emission pattern, obtain a second emission pattern in response to one or more of a time-varying trigger or a deviation of one or more received optical reflections from an expected reflection pattern, and initiate one or more optical pulses according to the second emission pattern. Further, the infrastructure node technique may detect a deviation of the received optical reflection(s) from an expected reflection pattern based on the interference notification from the first sensor platform, select the emission parameter(s) in response to the deviation, and alter the first emission pattern relative to the selected emission parameter(s) to obtain the second emission pattern.

Description

Techniques for supporting coexistence of multiple independent LIDAR sensors

Cross Reference to Related Applications

This application claims priority to U.S. patent application No. 16/232,213 filed on 26.12.2018.

Technical Field

Embodiments are generally related to sensors. More particularly, embodiments relate to techniques for supporting coexistence of multiple independent lidar (light detection and ranging) sensors in the same physical environment.

Background

Autonomous vehicles may use lidar sensors to detect nearby objects (e.g., pedestrians, other vehicles, etc.). For example, a lidar sensor may emit a light beam in a 360 ° field of view (FOV) and analyze the reflection of the emitted light beam in terms of time-of-flight to generate a point cloud representing the surrounding environment. While such sensing methods may be advantageous in some situations, there is still considerable room for improvement. For example, if another autonomous vehicle is in the area, the emitted light beam from the lambda sensor of the other autonomous vehicle may be mistaken for a reflection of the light beam emitted by the autonomous vehicle in question. Furthermore, nearby attackers may attempt to create a dangerous situation by forging reflections of the light beam emitted by the autonomous vehicle in question.

Drawings

Various advantages of the embodiments will become apparent to those skilled in the art by reading the following specification and appended claims, and by referencing the following drawings, in which:

FIG. 1 is a block diagram of an example of an environment containing multiple independent sensors according to an embodiment;

fig. 2A and 2B are flowcharts of an example of a method of operating a sensor according to an embodiment;

FIG. 3 is an illustration of an example of a set of quadrature modulated light sources according to an embodiment;

fig. 4 is a flow chart of an example of a method of operating a set of orthogonally modulated light sources according to an embodiment;

fig. 5 is a flowchart of an example of a method of operating a sensor in an Autonomous Vehicle (AV), according to an embodiment;

fig. 6 is a flow diagram of an example of a method of operating an infrastructure node according to an embodiment;

fig. 7 is a flowchart of an example of a method of operating an infrastructure node with AV settings according to an embodiment;

FIG. 8 is a block diagram of an example of a performance enhanced computing system according to an embodiment; and

fig. 9 is a diagram of an example of a semiconductor packaging apparatus according to an embodiment;

Detailed Description

Turning now to fig. 1, an environment 10 including a physical object 12 and a first sensor platform 14 ("sensor platform a") is shown. The first sensor platform 14 is typically a mobile platform such as, for example, an autonomous vehicle, a robot, a drone, or the like, wherein the position, velocity, shape, direction, or the like of the physical object 12 is related to the navigation/movement of the first sensor platform 14. Thus, the physical object 12 may be a wall (e.g., a highway barrier), a pedestrian, a leaf, a floor, or the like. The physical object 12 may also be another vehicle (e.g., autonomous or manually operated), a robot, a drone, or the like. In one example, the first sensor platform 14 includes a detection and ranging sensor, such as a light detection and ranging (lidar) sensor. Other detection and ranging sensors may also be used, such as, for example, radio detection and ranging (radar) sensors. In the illustrated example, the first sensor stage 14 emits a first light pulse 16 (e.g., a focused outbound light beam that rotates with a 360 ° FOV) according to a first emission pattern.

The first emission pattern may be defined in terms of one or more emission parameters (e.g., n parameters), such as, for example, pulse duration, optical frequency (e.g., wavelength), pulse amplitude, pulse sequence, pulse source (e.g., single source, multiple sources), transmission angle, nutating geometry, noise distribution, etc., or any combination thereof. As will be discussed in more detail, the first transmission pattern may also be altered in response to detected interference, a time-varying (e.g., random, pseudorandom) trigger, etc., to obtain a different (e.g., second) transmission pattern. An optical reflection 18 (e.g., inbound light) from the physical object 12 is received at the first sensor platform 14, where the optical reflection 18 has an expected reflection pattern (e.g., frequency, amplitude, reflection angle, noise distribution, timing, etc.) corresponding to the first transmission pattern.

For example, modulating the first light pulse 16 with a particular pulse duration, sequence, and/or source configuration may result in optical reflections 18 having a timing that may define a desired reflection pattern. In addition, modulating the illustrated first light pulse 16 with a particular frequency and/or noise profile results in an optical reflection 18 having a certain frequency or frequency range/spectrum (e.g., noise profile) that may define an expected reflection pattern. Furthermore, emitting the first light pulse 16 at a particular angle and/or nutating geometry (e.g., by periodically changing the tilt axis of the rotating mirror) may result in an optical reflection 18 having a certain reflection angle that defines the desired reflection pattern.

In the illustrated example, a second sensor platform 22 ("sensor platform B", e.g., mounted in a nearby autonomous vehicle/AV) in the environment 10 emits second light pulses 24 according to a different emission pattern (as indicated by the short dashed line) than the first emission pattern of the first light pulses 16 from the first sensor platform 14. The difference between the second light pulse 24 and the first light pulse 16 may be in terms of, for example, pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, angle of transmission, nutating geometry, noise distribution, and the like. The illustrated second light pulse 24 generates an optical reflection 26 from the physical object 12, wherein the optical reflection 26 is also received at the first sensor platform 14.

In an embodiment, due to the difference in emission pattern between the second light pulses 24 and the first light pulses 16, the optical reflections 26 will have a reflection pattern (e.g., in terms of frequency, amplitude, reflection angle, noise distribution, and/or timing) that is different from the expected reflection pattern. Thus, the illustrated first sensor platform 14 is capable of automatically ignoring the optical reflections 26, even though the

sensor platforms

14, 22 may be independent of one another (e.g., vehicles, robots, and/or drones that are not initially aware of one another or that do not directly communicate with one another). In contrast, the first sensor platform 14 uses the optical reflections 18 (e.g., via time-of-flight analysis) to determine the position, velocity, shape, direction, or other characteristic of the physical object 12. In one example, the first sensor platform 14 also generates a three-dimensional (3D) or two-dimensional (2D) point cloud based on the analysis. The second sensor stage 22 may receive an optical reflection 28 consistent with the expectations of the second sensor stage 22.

As previously described, the first sensor platform 14 may also alter the first transmission pattern in response to the detected interference. For example, the first sensor stage 14 may determine that the optical reflection 18 and the optical reflection 26 are similar in optical frequency. Thus, the optical reflection 26 may be considered to interfere (or potentially interfere) with the first optical reflection 18. In such cases, the first sensor platform 14 may automatically obtain a second emission pattern that modifies, for example, the angle of transmission of subsequent light pulses. Thus, the expected angle of reflection for subsequent optical reflections will change to the extent that the first sensor stage 14 is able to better distinguish the optical reflections (i.e., based on the angle of reflection). In another example, the illustrated first sensor platform 14 responds to the detected disturbance by automatically obtaining a second emission pattern that modifies the noise profile of subsequent light pulses. Thus, the expected noise profile of subsequent optical reflections will change to the extent that the first sensor platform 14 is able to more accurately distinguish (i.e., based on the noise profile) the optical reflections. Thus, the illustrated solution reduces the likelihood of the first sensor platform 14 misinterpreting the position, velocity, shape, orientation, and/or other characteristics of the physical object 12.

Additionally, the first sensor stage 14 may alter the first transmission pattern in response to a time-varying trigger. For example, random or pseudo-random modifications to the first transmission pattern (e.g., in terms of one or more of the n parameters) may make the first sensor platform 14 less susceptible to confusion or attack because there is a relatively low likelihood that another platform will select the same set of transmission parameters and configure them in the same manner as the first sensor platform 14.

The illustrated environment 10 also includes an attack platform 30, which attack platform 30 attempts to "forge" (e.g., impersonate) the optical reflection 18 with a light pulse 32. If successful, such attempts may mislead the first sensor platform 14, making it certain that the physical object 12 is closer, farther, oriented differently, moving at a different speed, etc. than it actually is (e.g., potentially resulting in an unexpected collision). However, in the illustrated example, the light pulses 32 have an emission pattern (as indicated by the long dashed lines) that is different from the expected reflection pattern. More specifically, the illustrated attack platform 30 is unable to determine and simulate the emission pattern used by the first sensor platform 14. Thus, the first sensor platform 14 may automatically ignore the light pulse 32 and/or report the light pulse 32 as a malicious transmission. Thus, the illustrated solution enhances the performance of the first sensor platform 14 by increasing reliability and security (e.g., reducing susceptibility to attacks).

In an embodiment, the first emission pattern is obtained by locally selecting the first emission pattern at the first sensor stage 14. Alternatively, the first transmission pattern is obtained from an infrastructure node 20 (e.g., roadside unit, edge node, base station, server), which infrastructure node 20 tracks the presence of other platforms, such as, for example, the second sensor platform 22 and/or the attack platform 30. In such cases, the first sensor platform 14 may inform the infrastructure node 20 (e.g., via a registration notification) of the transmit parameter capabilities of the first sensor platform 14 and the second sensor platform 22 may inform the infrastructure node 20 (e.g., via a registration notification) of the transmit parameter capabilities of the second sensor platform 22, wherein the infrastructure node 20 selects non-interfering transmit patterns for the first and

second sensor platforms

14 and 22, respectively.

Fig. 2A illustrates a method 34 of operating a sensor. The method 34 may generally be implemented in a sensor platform, such as, for example, the first sensor platform 14 (fig. 1) already discussed. More specifically, method 34 may be implemented in one or more modules as a set of logic instructions stored in a machine-or computer-readable storage medium such as Random Access Memory (RAM), Read Only Memory (ROM), programmable ROM (prom), firmware, flash memory, etc., in configurable logic such as, for example, Programmable Logic Arrays (PLAs), Field Programmable Gate Arrays (FPGAs), Complex Programmable Logic Devices (CPLDs), in fixed-function logic hardware using circuit technology such as, for example, Application Specific Integrated Circuits (ASICs), Complementary Metal Oxide Semiconductors (CMOSs), or transistor-transistor logic (TTL) technology, or in any combination thereof.

For example, computer program code for implementing the operations shown in method 34 may be written in any combination of one or more programming languages, including an object oriented programming language such as JAVA, SMALLTALK, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. Additionally, logic instructions may include assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, state setting data, configuration data for an integrated circuit, state information to personalize electronic circuitry native to hardware (e.g., host processor, central processing unit/CPU, microcontroller, etc.), and/or other structural components.

The illustrated processing block 36 initiates one or more light pulses and receives one or more optical reflections according to the emission pattern. In one example, block 36 includes controlling (e.g., via beam steering) one or more light sources (such as, for example, one or more lasers and one or more rotating mirrors) for initiating and emitting the light pulse(s). In addition, block 36 may include monitoring an optical receiver (e.g., including an array of photodiodes) to detect the optical reflection(s). In one example, block 36 includes sending the active/current transmission pattern (e.g., wirelessly) to an infrastructure node that adds the active transmission pattern to a set of stored transmission patterns. Block 36 may also include sending a set of transmission capabilities (e.g., wirelessly) to the infrastructure node (e.g., via a registration notification specifying available frequencies, sources, transmission angles, nutating geometry, etc.).

Block 38 determines whether there is a deviation between the optical reflection(s) and the expected reflection pattern. The expected reflection pattern may be specified based on the emission pattern (in terms of frequency, amplitude, reflection angle, noise distribution, timing, etc., or any combination thereof). In one example, block 38 includes determining whether any such deviation exceeds a predetermined threshold (e.g., 30 ° +/-5% reflection angle). If no substantial deviation is detected, illustrated block 40 detects one or more physical objects based on the optical reflection(s), and the method returns to block 36. In an embodiment, block 40 includes determining the position, velocity, shape, and/or orientation of the physical object(s), and generating a point cloud to record the surrounding environment.

If a deviation is detected at block 38, block 42 may ignore the optical reflection(s), where an altered emission pattern is obtained at block 44. In one example, block 44 includes selecting one or more emission parameters (e.g., pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutating geometry, noise distribution, etc., or any combination thereof), and altering the emission pattern relative to the selected emission parameter(s). In another example, block 44 includes sending a notification of the deviation (e.g., an interference notification) to an infrastructure node, such as, for example, infrastructure node 20 (fig. 1), and receiving the modified transmission pattern from the infrastructure node. Block 46 illustrated initiates one or more light pulses according to the altered emission pattern. In one example, block 46 includes sending the active transmission pattern (e.g., wirelessly) to an infrastructure node that adds the active transmission pattern to a set of stored transmission patterns. Method 34 may then return to block 38. Thus, the illustrated method 34 enhances performance by increasing reliability and security (e.g., reducing susceptibility to attacks).

FIG. 2B illustrates another method 48 of operating a sensor. The method 48 may generally be implemented in a sensor platform, such as, for example, the first sensor platform 14 (fig. 1) already discussed. In an embodiment, method 48 and method 34 (FIG. 1) are implemented together on the same platform. More specifically, method 48 may be implemented in one or more modules as a set of logic instructions stored in a machine or computer readable storage medium such as RAM, ROM, PROM, firmware, flash memory, etc., in configurable logic such as, for example, PLA, FPGA, CPLD, in fixed function logic hardware using, for example, ASIC, CMOS or TTL technology, or any combination thereof.

The illustrated processing block 50 initiates one or more light pulses and receives one or more optical reflections according to the emission pattern. In one example, block 50 includes controlling (e.g., via beam steering) one or more light sources (such as, for example, one or more lasers and one or more rotating mirrors) for initiating and emitting the light pulse(s). In addition, block 50 may include monitoring an optical receiver (e.g., including an array of photodiodes) to detect the optical reflection(s). In one example, block 50 includes sending the active transmission pattern (e.g., wirelessly) to an infrastructure node that adds the active transmission pattern to a set of stored transmission patterns. Block 50 may also include sending a set of transmission capabilities (e.g., wirelessly) to the infrastructure node (e.g., via a registration notification specifying available frequencies, sources, transmission angles, nutating geometry, etc.). One or more physical objects are detected based on the optical reflection(s) at block 52. In an embodiment, block 52 includes determining the position, velocity, shape, and/or orientation of the physical object(s), and generating a point cloud to record the surrounding environment.

It may be determined at block 54 whether a time-varying trigger is present. The time-varying trigger may be generated, for example, by a random number generator (e.g., hardware-based), a pseudo-random number generator (e.g., with hidden state values), or other non-deterministic output that is difficult to predict. If a time-varying trigger is not present, the illustrated method 48 returns to block 50.

If it is determined at block 54 that a time-varying trigger is present, illustrated block 56 obtains a modified emission pattern. In one example, block 56 includes selecting one or more emission parameters (e.g., pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutating geometry, noise distribution, etc., or any combination thereof), and altering the emission pattern relative to the selected emission parameter(s). In another example, block 56 includes sending a notification of the deviation (e.g., an interference notification) to an infrastructure node, such as, for example, infrastructure node 20 (fig. 1), and receiving the modified transmission pattern from the infrastructure node. Block 58, illustrated, initiates one or more light pulses according to the altered emission pattern. In one example, block 58 includes sending the active transmission pattern (e.g., wirelessly) to an infrastructure node that adds the active transmission pattern to a set of stored transmission patterns. Method 48 may then return to block 52. Thus, the illustrated method 48 enhances performance by increasing reliability and security (e.g., reducing susceptibility to attacks).

Fig. 3 shows a set of orthogonally modulated time division multiplexed light sources 60(60a, 60 b). Beam steering may generally be used as a mechanism to allow a window of time for which the light source 60 may emit without interference. In one example, the light sources 60 are synchronized in time via GPS (global positioning system) signals, and a sub-time frame is created in which each light source 60 is allowed to transmit. For cells where the motor can only rotate/spin in one direction, then the laser is blocked or allowed to fire. For solid state lidar systems with complex MEMS (micro-electromechanical systems) motors that can be arbitrarily stepped, the light sources 60 emit at different angles. In older lidar systems, the transmission angles may also be adjusted to be oblique relative to each other to allow the light sources 60 to emit at different angles.

In the illustrated example, a first light source 60a ("laser source a") is directed to the structured elliptical mask oriented at 0 °, while a second light source 60b ("laser source a") is directed to the structured elliptical mask oriented at 90 °. In an embodiment, the first set of optical reflections 68 originates from the first beam output 64 striking the physical object 66. Similarly, the second set of optical reflections 62 originate from the second beam outputs 70 impinging the physical object 66. The orthogonal elliptical mask enables distance and reflection measurements to be obtained in a manner that differently captures the surface of the physical object 66. More specifically, due to the shape of the beam outputs 64, 70, the angle of incidence and relative orientation of the surfaces may vary slightly. This difference results in slight measurement deviations, but within tolerances. Thus, each light source 60 may serve as a reference for another light source. Plot 72 illustrates an example emission pattern in which a first pulse corresponding to first beam output 64 is at time t_AEmitting a second pulse corresponding to a second beam output 70 at time t_BAnd (4) transmitting.

The first set of optical reflections 68 and the second set of optical reflections 62 are each received by an optical receiver 74 (e.g., comprising a curved mirror, a set of photodiodes, etc.). Plot 76 illustrates an example measurement in which the first set of optical reflections 68 are at time t_A1Receive, and the second set of optical reflections 62 is at time t_B1And receiving. Thus, in the illustrated example, the time of flight of the first beam output 64 is Δ t_AAnd the time of flight of the second beam output 70 is delta_tB. Therefore, Δ t_AAnd Δ t_BAbsolute difference between (e.g., "Δ t_c") may be used to detect deviations from an expected reflection pattern.

Fig. 4 illustrates a method 80 of operating a set of quadrature modulated light sources, such as light source 60 (fig. 3) already discussed. The method 80 may be implemented in one or more modules as a set of logic instructions stored in a machine or computer readable storage medium such as RAM, ROM, PROM, firmware, flash memory, etc., in configurable logic such as, for example, PLA, FPGA, CPLD, in fixed-function logic hardware using circuit technology such as, for example, ASIC, CMOS or TTL technology, or any combination thereof.

The illustrated processing block 82 sets the modulation level variable "N" to a value of 2, where random pattern generation occurs at block 84. In the illustrated example, the pulse sequences for the first light source "a" and the second light source "B" are defined by the expression (a | B) ^ N, such that when N ═ 2, the sequences AA, AB, BA, BB are randomly ordered and triggered at block 86 (e.g., where "AA" refers to triggering the first light source twice, "AB" refers to triggering the first light source followed by triggering the second light source, and so on). Block 86 may also determine a respective time of flight (e.g., Δ t) for each pulse sequence_AAnd Δ t_B). The illustrated block 88 calculates the inter-measurement bias (e.g., Δ t)_c) Wherein a determination is made at block 90 whether the inter-measurement deviation is below a reliability threshold. If not, the reading is considered noisy and discarded. In such cases, block 92 increments the value of the modulation level variable, and block 94 determines whether the modulation level exceeds the maximum modulation. The maximum modulation may be set based on the maximum time before the beam steering device moves to the next location. If the modulation level is exceeded, a fault may be reported. If the modulation level does not exceed the maximum modulation, the illustrated method 80 returns to block 84. When N is 3, the sequences AAA, AAB, ABA, ABB, BAA, BAB, BBA, and BBB may be randomly ordered and triggered at block 86.

If it is determined at block 90 that the inter-measurement deviation is below the reliability threshold, block 96 performs distance and reflection measurement optimization using the N orthogonal measurements. More specifically, in block 96, the system installs the parameters from the "trigger and measurement sequence" as activity pulsing and modulation settings because determining these parameters results in low perturbations of measurements from other active nearby systems. Such parameters may include, for example, emission angle, modulation (frequency or amplitude) of the pulsations, timing of the emissions, etc. The term "optimization" may refer to the process of fusing multiple depth and reflection values to obtain a single depth and reflection value. This fusion can be done in a number of ways to maximize the likelihood of an estimate based on multiple samples. In this manner, identification of the optimal value may involve determining a maximum density value associated with a base Probability Distribution Function (PDF) of the collected sample. In an embodiment, determining the maximum density includes extracting a PDF from the sample and then finding a global maximum of the function. Finding the global maximum is a numerical optimization used to infer the most accurate and precise value under a limited number N of samples. The illustrated method 80 then reports success.

Fig. 5 illustrates an ad hoc (ad hoc) method 100 of operating sensors in an Autonomous Vehicle (AV). The method 100 may generally be implemented in a sensor platform, such as, for example, the first sensor platform 14 (fig. 1) already discussed. In an embodiment, the method 100 is deployed in an environment lacking infrastructure nodes. More specifically, the method 100 may be implemented in one or more modules as a set of logic instructions stored in a machine or computer readable storage medium such as RAM, ROM, PROM, firmware, flash memory, etc., in configurable logic such as, for example, PLA, FPGA, CPLD, in fixed function logic hardware using, for example, ASIC, CMOS or TTL technology, or any combination thereof.

The illustrated processing block 102 monitors broadcast/unicast transmissions from other AVs. A determination may be made at block 104 whether interference is being experienced or whether another AV is using the same lidar settings (e.g., a likelihood of causing interference). If so, the AV switches to another set of orthogonal parameters at block 106 to avoid interference. The illustrated block 108 broadcasts the current lidar settings, as well as velocity, position, trajectory, intent, and timestamp data. The AV continues to navigate through the environment (e.g., neighborhood) at block 110. If it is determined at block 104 that there is no actual or potential interference, the illustrated method bypasses block 106 and proceeds directly to block 108.

Thus, in the illustrated method 100, there is no centralized mechanism to coordinate the individual lidar systems. Instead, each lidar system picks its parameters randomly and this randomness reduces the probability of collisions because the AV is in a dynamic environment where lidar systems join and leave space. In one embodiment, the AV performs periodic "carrier sensing" to check for collisions/interference and periodically broadcasts its lidar system parameters via unicast or broadcast packets. If a collision is detected from carrier sensing or from other AV broadcasts, a new set of parameters is selected.

Fig. 6 illustrates a centralized method 112 of operating infrastructure nodes. Method 112 may generally be implemented in an infrastructure node, such as, for example, infrastructure node 20 (fig. 1) already discussed. More specifically, the method 100 may be implemented in one or more modules as a set of logic instructions stored in a machine or computer readable storage medium such as RAM, ROM, PROM, firmware, flash memory, etc., in configurable logic such as, for example, PLA, FPGA, CPLD, in fixed function logic hardware using, for example, ASIC, CMOS or TTL technology, or any combination thereof.

The illustrated processing block 114 determines a set of transmission capabilities of the first sensor platform based on the registration notification from the first sensor platform. The first transmission pattern is set at block 116 based on the set of transmission capabilities. In an embodiment, block 116 includes confirming that the first transmission pattern does not interfere with a stored set of transmission patterns, wherein the stored set of transmission patterns correspond to a plurality of sensor platforms in proximity to the first sensor platform. Illustrated block 118 detects a deviation of one or more received optical reflections from an expected reflection pattern based on the interference notification from the first sensor platform. One or more transmit parameters may be selected in response to the deviation at block 120. In embodiments, the emission parameter(s) include pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutating geometry, noise distribution, etc., or any combination thereof. Block 122 alters the first emission pattern relative to the selected emission parameter(s) to obtain a second emission pattern, wherein the first sensor platform is instructed to use the second emission pattern at block 124. Thus, the illustrated method 112 enhances performance by enabling infrastructure nodes to arbitrate between nearby sensor platforms.

Fig. 7 illustrates a centralized method 130 of operating infrastructure nodes in AV settings. Method 130 may generally be implemented in an infrastructure node, such as, for example, infrastructure node 20 (fig. 1) already discussed. More specifically, the method 130 may be implemented in one or more modules as a set of logic instructions stored in a machine or computer readable storage medium such as RAM, ROM, PROM, firmware, flash memory, etc., in configurable logic such as, for example, PLA, FPGA, CPLD, in fixed function logic hardware using, for example, ASIC, CMOS or TTL technology, or any combination thereof.

At processing block 132 shown IN the figure, the AV approaches an Infrastructure Node (IN) on the street. At block 134, the AV notifies the IN about its location, intent, speed, track, and current lidar settings with a timestamp. Block 134 also provides for AV description of its lidar capabilities. The IN may compare the lidar settings with other settings (e.g., via a database search) from all AVs IN the vicinity at block 136 using the time period during which the AV is expected to exist. A determination is made at the illustrated block 138 whether a completely orthogonal setting has been found. If not, block 140 checks whether the sweep step size, sweep frequency, and initial offset can be modified to reduce lidar interference. If block 142 determines that such settings are possible, the AV may be notified of the recommended settings and corresponding time periods at block 144. The AV may then navigate through the surrounding area (e.g., neighborhood) at block 146. If a perfectly orthogonal setting is found at block 138, the illustrated method 130

bypasses blocks

140 and 142 and proceeds directly to block 144.

If it is determined at block 142 that the scan step size, scan frequency and initial offset, or other parameters cannot be modified to reduce lidar interference, block 148 checks for the possibility of reassigning the existing AV's settings to accommodate the AV. Block 150 illustrated determines whether reallocation and adaptation is possible. If so, the method 130 may proceed to block 144. Otherwise, block 152 notifies the AV of the disturbance and provides the AV with an original point cloud, cost map, or object list for safer navigation in the vicinity. The cost map is a 2D (two-dimensional) representation in an occupied grid format of the space around the autonomous vehicle (or robot). The general term is occupancy grids, where "cost map" (Costmap) is a popular implementation that assigns each cell in a grid a unique cost value that is used by a path planner to decide the trajectory it will follow.

Thus, in the illustrated example, a central authority (e.g., a lidar coordination server) is responsible for deciding how lidar systems coexist. When autonomous cars come into a certain area, they pass their lidar Transmit (TX) parameters to IN. IN one example embodiment, each vehicle also indicates its lidar capability (e.g., a parameter that it may change) to the IN node. The lidar coordination server then searches its database and determines what parameters are being used by other lidar systems to determine if there is a possibility of interference. If there is a possibility of interference, the IN tries to change the parameters of other AV's or those that just entered the neighborhood. Thus, if there is interference between the lidar systems, the AV requests new transmission parameters from the central authority. When the AV moves away from the neighborhood, it then transitions to a new IN, or if no Infrastructure Nodes (INs) exist, the AV migrates to an ad hoc scheme.

Turning now to FIG. 8, a performance enhanced computing system 160 is illustrated. The computing system 160 may be a vehicle (e.g., autonomous automobile, airplane, spacecraft), drone, robot, or the like. Thus, the computing system 160 may readily replace the first sensor platform 14 (FIG. 1) already discussed. In another embodiment, computing system 160 is a server that readily replaces an infrastructure node (e.g., a central facility), such as, for example, infrastructure node 20 (FIG. 1) already discussed. In the illustrated example, the system 160 includes an electrical on-board subsystem 162 (e.g., dashboard, embedded controller), a lidar subsystem 166, a mechanical subsystem 164 (e.g., transmission, internal combustion engine, fuel injectors, pumps, etc.), and a host processor 168 (e.g., central processing unit/CPU having one or more processor cores), the host processor 168 having an Integrated Memory Controller (IMC)170 coupled to a system memory 172.

The illustrated system 160 also includes an Input Output (IO) module 174, which IO module 174 is implemented as a system on chip (SoC) on a semiconductor die 178 with the host processor 168 and the graphics processor 176. The IO module 174 communicates with, for example, a network controller 180 (e.g., wireless, wired), a display 182, a lidar subsystem 166, an electrical onboard subsystem 162, a mechanical subsystem 164, and mass storage 184 (e.g., hard disk drive/HDD, optical disk, solid state drive/SSD, flash memory). Host processor 168 may include logic 186 (e.g., logic instructions, configurable logic, fixed function hardware logic, etc., or any combination thereof) to perform one or more aspects of method 34 (fig. 2A), method 48 (fig. 2B), method 80 (fig. 4), method 100 (fig. 5), method 112 (fig. 6), and/or method 130 (fig. 7) already discussed.

Thus, if computing system 160 is a sensor platform, the illustrated logic 186 initiates one or more light pulses according to a first emission pattern and obtains a second emission pattern in response to one or more of a time-varying trigger or a deviation of one or more received optical reflections from an expected reflection pattern. Logic 186 may also initiate one or more light pulses according to the second emission pattern.

If computing system 160 is an infrastructure node, logic 186 may detect a deviation of one or more received optical reflections from an expected reflection pattern based on the interference notification from the first sensor platform and select one or more emission parameters in response to the deviation. In such cases, the logic 186 also alters the first transmission pattern relative to the selected transmission parameter(s) to obtain a second transmission pattern. Although logic 186 is shown in host processor 168, logic 186 may be located elsewhere in computing system 160.

Fig. 9 shows a semiconductor package device 190. Device 190 may include logic 194 to implement one or more aspects of method 34 (fig. 2A), method 48 (fig. 2B), method 80 (fig. 4), method 100 (fig. 5), method 112 (fig. 6), and/or method 130 (fig. 7) that have been discussed, and may readily replace logic 186 (fig. 8) that has been discussed. The illustrated device 190 includes one or more substrates 192 (e.g., silicon, sapphire, gallium arsenide), with logic 194 (e.g., transistor arrays and other integrated circuit/IC components) coupled to the substrate(s) 192. Logic 194 may be implemented at least partially in configurable logic or fixed function logic hardware. In one example, logic 194 includes transistor channel regions positioned (e.g., embedded) within substrate(s) 192. Thus, the interface between logic 194 and substrate(s) 192 may not be an abrupt junction. Logic 194 can also be considered to include epitaxial layers grown on an initial wafer of substrate(s) 192.

Additional description and examples:

example 1 includes a performance enhanced computing system, comprising: one or more light sources for emitting one or more light pulses according to a first emission pattern; an optical receiver for receiving one or more optical reflections; and a processor comprising logic coupled to the one or more substrates, wherein the logic coupled to the one or more substrates is to initiate one or more light pulses according to the first emission pattern, obtain a second emission pattern in response to one or more of a time-varying trigger or a deviation of the one or more optical reflections from an expected reflection pattern, and initiate the one or more light pulses according to the second emission pattern.

Example 2 includes the computing system of example 1, wherein the logic coupled to the one or more substrates is to identify one or more received optical reflections that do not deviate from the expected reflection pattern and detect the one or more physical objects based on the one or more received optical reflections that do not deviate from the expected reflection pattern.

Example 3 includes the computing system of example 1, wherein the logic coupled to the one or more substrates is to select one or more emission parameters and alter the first emission pattern relative to the selected one or more emission parameters to obtain the second emission pattern.

Example 4 includes the computing system of example 3, wherein the one or more transmission parameters are selected from the group consisting of: pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutation geometry, and noise distribution.

Example 5 includes the computing system of example 1, wherein the logic coupled to the one or more substrates is to send a notification of the deviation to an infrastructure node and receive a second transmission pattern from the infrastructure node.

Example 6 includes the computing system of example 5, wherein the logic coupled to the one or more substrates is to send the first transmission pattern or one or more of the set of transmission capabilities to the infrastructure node.

Example 7 includes a semiconductor package comprising one or more substrates, and logic coupled to the one or more substrates, wherein the logic is implemented at least in part in one or more of configurable logic and fixed function hardware logic, the logic coupled to the one or more substrates to initiate one or more optical pulses according to a first emission pattern, obtain a second emission pattern in response to one or more of a time-varying trigger or a deviation of one or more received optical reflections from an expected reflection pattern, and initiate the one or more optical pulses according to the second emission pattern.

Example 8 includes the semiconductor device of example 7, wherein the logic coupled to the one or more substrates is to identify one or more received optical reflections that do not deviate from the expected reflection pattern and detect the one or more physical objects based on the one or more received optical reflections that do not deviate from the expected reflection pattern.

Example 9 includes the semiconductor device of example 7, wherein the logic coupled to the one or more substrates is to select one or more emission parameters and alter the first emission pattern relative to the selected one or more emission parameters to obtain the second emission pattern.

Example 10 includes the semiconductor device of example 9, wherein the one or more transmission parameters are selected from the group consisting of: pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutation geometry, and noise distribution.

Example 11 includes the semiconductor device of example 7, wherein the logic coupled to the one or more substrates is to send a notification of the deviation to an infrastructure node and receive a second transmission pattern from the infrastructure node.

Example 12 includes the semiconductor device of example 11, wherein logic coupled to the one or more substrates is to send the first transmission pattern or one or more of the set of transmission capabilities to the infrastructure node.

Example 13 includes at least one computer-readable storage medium comprising a set of instructions that, when executed by a computing system, cause the computing system to: initiating one or more light pulses according to a first emission pattern, obtaining a second emission pattern in response to one or more of a time-varying trigger or a deviation of one or more received optical reflections from an expected reflection pattern, and initiating one or more optical pulses according to the second emission pattern.

Example 14 includes the at least one computer-readable storage medium of example 13, comprising a set of instructions that, when executed, further cause the computing system to: one or more received optical reflections are identified that do not deviate from the expected reflection pattern, and one or more physical objects are detected based on the one or more received optical reflections that do not deviate from the expected reflection pattern.

Example 15 includes the at least one computer-readable storage medium of example 13, wherein the instructions, when executed, cause the computing system to select one or more transmission parameters and alter the first transmission pattern relative to the selected one or more transmission parameters to obtain the second transmission pattern.

Example 16 includes the at least one computer-readable storage medium of example 15, wherein the one or more transmission parameters are selected from the group consisting of: pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutation geometry, and noise distribution.

Example 17 includes the at least one computer-readable storage medium of example 13, wherein the instructions, when executed, cause the computing system to send a notification of the deviation to an infrastructure node and receive a second transmission pattern from the infrastructure node.

Example 18 includes the at least one computer-readable storage medium of example 17, wherein the instructions, when executed, further cause the computing system to transmit one or more of a first transmission pattern or a set of transmission capabilities to the infrastructure node.

Example 19 includes at least one computer-readable storage medium comprising a set of instructions that, when executed by an infrastructure node, cause the infrastructure node to detect a deviation of one or more received optical reflections from an expected reflection pattern based on a disturbance notification from a first sensor platform, select one or more emission parameters in response to the deviation, and alter a first emission pattern relative to the selected one or more emission parameters to obtain a second emission pattern.

Example 20 includes the at least one computer readable storage medium of example 19, wherein the instructions, when executed, cause the infrastructure node to confirm that the second transmission pattern does not interfere with the set of stored transmission patterns, and wherein the set of stored transmission patterns correspond to a plurality of sensor platforms in proximity to the first sensor platform.

Example 21 includes the at least one computer readable storage medium of example 19, wherein the instructions, when executed, cause the infrastructure node to instruct the first sensor platform to use the second transmission pattern.

Example 22 includes the at least one computer readable storage medium of example 19, wherein the instructions, when executed, cause the infrastructure node to determine a set of transmission capabilities of the first sensor platform based on the registration notification from the first sensor platform, and set the first transmission pattern based on the set of transmission capabilities.

Example 23 includes the at least one computer readable storage medium of example 22, wherein the instructions, when executed, cause the infrastructure node to confirm that the first transmission pattern does not interfere with the set of stored transmission patterns, and wherein the set of stored transmission patterns correspond to a plurality of sensor platforms in proximity to the first sensor platform.

Example 24 includes the at least one computer-readable storage medium of example 19, wherein the one or more transmission parameters are selected from the group consisting of: pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutation geometry, and noise distribution.

Example 25 includes a method of operating a computing system, comprising: initiating one or more light pulses according to a first emission pattern, obtaining a second emission pattern in response to one or more of a time-varying trigger or a deviation of one or more received optical reflections from an expected reflection pattern, and initiating one or more optical pulses according to the second emission pattern.

Example 26 includes a method of operating an infrastructure node, comprising: the method further includes detecting a deviation of one or more received optical reflections from an expected reflection pattern based on the interference notification from the first sensor platform, selecting one or more emission parameters in response to the deviation, and altering the first emission pattern relative to the selected one or more emission parameters to obtain a second emission pattern.

Example 27 includes means for performing the method of any of examples 25 or 26.

Thus, the techniques described herein may eliminate any requirement for using the lidar system in isolation. For example, this technique addresses a problem encountered when the lidar system is unable to distinguish a received light pulse as its own (e.g., a false return pulse may otherwise disrupt subsequent calculations of speed, depth, occlusion, etc. of the round-trip characteristics from the light beam). In order to allow multiple lidar systems to coexist, multiple differentiated vectors are introduced into the transmit characteristics of pulses of lidar. The differentiated vectors significantly reduce the probability of signal overlap or confusion (e.g., pulse length, transmit pattern, pulse shape modulation and coding, and single or multiple beam transmission). By increasing the information encoded in the form of pulses, the "signature" of the pulses is greatly increased. In addition, multiple lidar units may be utilized in tandem to further increase the degree of differentiation. For example, performing multiple measurements sequentially on the same ambient environment (e.g., two units with rotational offset and merging their data) or using quadrature modulation methods can significantly enhance performance.

Thus, in order for the reflected pulse to be accepted, the received emission pattern will need to "match" the emitted pattern. For example, multiple emission patterns may be generated by a nutating mirror rotating about its axis. One example is an elliptical pattern generated by a nutating mirror. The plane of the mirror is tilted with respect to the axis of rotation so that the spots are excited in an elliptical pattern.

Embodiments are applicable for use with all types of semiconductor integrated circuit ("IC") chips. Examples of such IC chips include, but are not limited to, processors, controllers, chipset components, Programmable Logic Arrays (PLAs), memory chips, network chips, system on chip (SoC), SSD/NAND controller ASICs, and the like. Additionally, in some of the figures, signal conductors are represented by lines. Some lines may be different to indicate more constituent signal paths, may have a number label to indicate the number of constituent signal paths, and/or may have arrows at one or more ends to indicate primary information flow direction. However, this should not be construed in a limiting manner. Rather, such added detail may be used in connection with one or more exemplary embodiments to facilitate easier understanding of a circuit. Any represented signal lines, whether or not having additional information, may actually comprise one or more signals that may travel in multiple directions and be implemented with any suitable type of signal scheme, such as digital or analog lines implemented with differential pairs, fiber optic lines, and/or single-ended lines.

Example sizes/models/values/ranges may have been given, but embodiments are not limited thereto. As manufacturing techniques (e.g., photolithography) mature over time, it is expected that devices of smaller size could be manufactured. In addition, well known power/ground connections to IC chips and other components may or may not be shown within the FIGS, for simplicity of illustration and discussion, and so as not to obscure certain aspects of the embodiments. Moreover, various arrangements may be shown in block diagram form in order to avoid obscuring the embodiments, and also in view of the fact that specifics with respect to implementation of such block diagram arrangements is highly dependent upon the platform within which the embodiments are to be implemented, i.e., such specifics should be well within purview of one skilled in the art. Where specific details (e.g., circuits) are set forth in order to describe example embodiments, it should be apparent to one skilled in the art that the various embodiments can be practiced without, or with variation of, these specific details. The description is thus to be regarded as illustrative instead of limiting.

The term "coupled" may be used herein to refer to any type of direct or indirect relationship between the components in question, and may apply to electrical, mechanical, fluidic, optical, electromagnetic, electromechanical or other connections. In addition, the terms "first," "second," and the like may be used herein only for ease of discussion, and do not have a specific temporal or chronological meaning unless otherwise stated.

As used in this application and the claims, a list of items joined by the term "one or more of can mean any combination of the listed items. For example, the phrase "A, B or one or more of C" may mean a; b; c; a and B; a and C; b and C; or A, B and C.

Those skilled in the art will appreciate from the foregoing description that the broad techniques of the embodiments can be implemented in a variety of forms. Therefore, while the embodiments have been described in connection with particular examples thereof, the true scope of the embodiments should not be so limited since other modifications will become apparent to the skilled practitioner upon a study of the drawings, the specification and the following claims.

Claims

1. A performance-enhanced computing system, the computing system comprising:

one or more light sources for emitting one or more light pulses according to a first emission pattern;

an optical receiver for receiving one or more optical reflections; and

a processor comprising logic coupled to one or more substrates, wherein the logic coupled to the one or more substrates is to:

initiating the one or more light pulses according to the first transmission pattern,

obtaining a second emission pattern in response to one or more of a time-varying trigger or a deviation of the one or more optical reflections from an expected reflection pattern, and

initiating one or more light pulses according to the second emission pattern.

2. The computing system of claim 1, wherein the logic coupled to the one or more substrates is to:

identifying one or more received optical reflections that do not deviate from the expected reflection pattern, and

detecting one or more physical objects based on the one or more received optical reflections that do not deviate from an expected reflection pattern.

3. The computing system of any of claims 1 or 2, wherein the logic coupled to the one or more substrates is to:

selecting one or more transmission parameters, and

altering the first transmission pattern relative to the selected one or more transmission parameters to obtain the second transmission pattern.

4. The computing system of claim 3, wherein the one or more transmission parameters are selected from the group consisting of: pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutation geometry, and noise distribution.

5. The computing system of claim 1, wherein the logic coupled to the one or more substrates is to:

sending a notification of the deviation to the infrastructure node, and

receiving the second transmission pattern from the infrastructure node.

6. The computing system of claim 5, wherein the logic coupled to the one or more substrates is to send one or more of the first transmission pattern or a set of transmission capabilities to the infrastructure node.

7. A semiconductor package, comprising:

one or more substrates; and

logic coupled to the one or more substrates, wherein the logic is implemented at least in part in one or more of configurable logic or fixed function hardware logic, the logic coupled to the one or more substrates to:

initiating one or more light pulses according to a first transmission pattern,

obtaining a second emission pattern in response to one or more of a time-varying trigger or a deviation of one or more received optical reflections from an expected reflection pattern, and

initiating one or more light pulses according to the second emission pattern.

8. The semiconductor device of claim 7, wherein the logic coupled to the one or more substrates is to:

9. The semiconductor device of any one of claims 7 or 8, wherein the logic coupled to the one or more substrates is to:

selecting one or more transmission parameters, and

10. The semiconductor device of claim 9, wherein the one or more transmit parameters are selected from the group consisting of: pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutation geometry, and noise distribution.

11. The semiconductor device of claim 7, wherein the logic coupled to the one or more substrates is to:

sending a notification of the deviation to the infrastructure node, and

receiving the second transmission pattern from the infrastructure node.

12. The semiconductor device of claim 11, wherein the logic coupled to the one or more substrates is to send one or more of the first transmission pattern or a set of transmission capabilities to the infrastructure node.

13. At least one computer-readable storage medium comprising a set of instructions that, when executed by a computing system, cause the computing system to:

initiating one or more light pulses according to a first transmission pattern,

obtaining a second emission pattern in response to one or more of a time-varying trigger or a deviation of one or more received optical reflections from an expected reflection pattern; and is

Initiating one or more light pulses according to the second emission pattern.

14. The at least one computer-readable storage medium of claim 13, wherein the instructions, when executed, further cause the computing system to:

identifying one or more received optical reflections that do not deviate from the expected reflection pattern; and is

15. The at least one computer-readable storage medium of any one of claims 13 or 14, wherein the instructions, when executed, cause the computing system to:

selecting one or more transmit parameters; and is

16. The at least one computer-readable storage medium of claim 15, wherein one or more transmission parameters are selected from the group consisting of: pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutation geometry, and noise distribution.

17. The at least one computer-readable storage medium of claim 13, wherein the instructions, when executed, cause the computing system to:

sending a notification of the deviation to an infrastructure node; and is

Receiving the second transmission pattern from the infrastructure node.

18. The at least one computer-readable storage medium of claim 17, wherein the instructions, when executed, further cause the computing system to send one or more of the first transmission pattern or a set of transmission capabilities to the infrastructure node.

19. At least one computer readable storage medium comprising a set of instructions that, when executed by an infrastructure node, cause the infrastructure node to:

detecting a deviation of one or more received optical reflections from an expected reflection pattern based on the interference notification from the first sensor platform;

selecting one or more transmit parameters in response to the deviation; and

the first transmission pattern is modified with respect to the selected one or more transmission parameters to obtain a second transmission pattern.

20. The at least one computer-readable storage medium of claim 19, wherein the instructions, when executed, cause the infrastructure node to confirm that the second transmission pattern does not interfere with the set of stored transmission patterns, and wherein the set of stored transmission patterns correspond to a plurality of sensor platforms that are proximate to the first sensor platform.

21. The at least one computer-readable storage medium of claim 19, wherein the instructions, when executed, cause the infrastructure node to instruct the first sensor platform to use the second transmission pattern.

22. The at least one computer-readable storage medium of claim 19, wherein the instructions, when executed, cause the infrastructure node to:

determining a set of transmission capabilities of the first sensor platform based on a registration notification from the first sensor platform; and

setting the first transmission pattern based on the set of transmission capabilities.

23. The at least one computer-readable storage medium of claim 22, wherein the instructions, when executed, cause the infrastructure node to confirm that the first transmission pattern does not interfere with the set of stored transmission patterns, and wherein the set of stored transmission patterns correspond to a plurality of sensor platforms proximate to the first sensor platform.

24. The at least one computer-readable storage medium of any one of claims 19-23, wherein the one or more transmission parameters are selected from the group consisting of: pulse duration, optical frequency, pulse amplitude, pulse sequence, pulse source, transmission angle, nutation geometry, and noise distribution.

25. A semiconductor package, comprising:

means for initiating one or more light pulses according to a first transmission pattern;

means for obtaining a second emission pattern in response to one or more of a time-varying trigger or a deviation of one or more received optical reflections from an expected reflection pattern; and

means for initiating one or more light pulses according to the second emission pattern.